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| author | german77 <juangerman-13@hotmail.com> | 2021-10-22 19:34:44 +0200 |
|---|---|---|
| committer | Narr the Reg <juangerman-13@hotmail.com> | 2021-11-25 03:30:25 +0100 |
| commit | 21819da8cd7da60be8f8ba82dc940c2496a5317e (patch) | |
| tree | c651a1d740ef15196811b602dd9589cabfae88e4 /src/core | |
| parent | kraken: Address comments from review (diff) | |
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Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/hid/motion_input.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/core/hid/motion_input.cpp b/src/core/hid/motion_input.cpp index 93f37b77b..c25fea966 100644 --- a/src/core/hid/motion_input.cpp +++ b/src/core/hid/motion_input.cpp @@ -73,6 +73,8 @@ void MotionInput::UpdateRotation(u64 elapsed_time) { rotations += gyro * sample_period; } +// Based on Madgwick's implementation of Mayhony's AHRS algorithm. +// https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU/blob/master/x-IMU%20IMU%20and%20AHRS%20Algorithms/x-IMU%20IMU%20and%20AHRS%20Algorithms/AHRS/MahonyAHRS.cs void MotionInput::UpdateOrientation(u64 elapsed_time) { if (!IsCalibrated(0.1f)) { ResetOrientation(); |